Infant soothing carrier assembly and apparatus

ABSTRACT

Apparatus and systems drive an infant carrier through space while providing soothing acceleration and/or sonic components. Infant-soothing swaying and vibrating mechanisms help to calm an upset infant and/or help the infant to fall asleep. Embodiments described herein include infant carriers capable of self-locomotion and/or platforms capable of self-locomotion with snap-in fasteners to accept an infant carrier. In some embodiments, a platform with an attached infant carrier travels along a track or monorail. In some embodiments, an infant carrier with wheels may be pulled by a toy providing the locomotion. Some embodiments incorporate a device controller with biofeedback mechanisms to adaptively pinpoint characteristics of soothing motions and sounds appropriate to a selected soothing task for a particular infant in a particular emotional state.

PRIORITY CLAIM

This application is a divisional of and claims the benefit of priorityunder 35 U.S.C. §121 to U.S. application Ser. No. 13/890,252, titled“INFANT SOOTHING CARRIER ASSEMBLY AND APPARATUS” and filed on May 9,2013, which claims the benefit of priority under 35 U.S.C. §119(e) toU.S. Provisional Patent Application Ser. No. 61/644,430 titled “INFANTSOOTHING APPARATUS AND METHODS” filed on May 9, 2012, both of the latterapplications incorporated herein by reference in their entirety.

TECHNICAL FIELD

Embodiments described herein relate to apparatus associated with infantcare, including infant carrier assemblies to sooth a crying infantand/or to put an infant to sleep.

BACKGROUND INFORMATION

It is well known that soothing a tired, crying, and/or upset infant isoften a challenging, time-consuming part of child rearing. This isparticularly true during the first few years of a child's life, beforeand while learning to talk, as crying may be a baby's primary means ofexpression.

It has been said that infants have an uncanny ability to requirewhatever mode of soothing results in the greatest amount of work for theparent in any particular situation. Thus, for example, a parent may liftand cradle a crying infant in his/her arms while sitting. The infant maybe comforted and stop crying for a while. Shortly, though, the infantmay resume crying and require rocking or a light bouncing motion to befurther consoled. Eventually, the parent may be required to transitionto a standing or a walking state to further comfort the infant. Often adifficult situation frequently arises at the end of an infant's wakefulperiod. The baby may becomes fussy, tired, and ready to sleep, butcannot because he/she is crying. Some parents even report having to goto the extreme of taking an infant for an automobile ride to lullher/him to sleep. Doing so is apparently often effective, but may resultin considerable time and expense.

As the pace of life accelerates, the time and patience required ofexhausted two working-parent families to sooth infant children maycontribute substantially to family stress. Various soothing aids anddevices have been suggested and marketed to assist parents with theabove-described burdens of parenting infant children. For example,wind-up or electric powered baby swings may entertain an infant for aperiod of time but are often ineffective in lulling the infant to sleep.Motion-creating infant carriers that are fixed in space, with fixed feetto be placed on the floor or on a table, for example, are known. Suchproducts may have limited effectiveness and may be subject tohabituation, as they provide insufficient diversity in both range ofacceleration motion and in a target infant's field-of-view. Thus, thereexists a long-felt but largely unsatisfied need for a device capable ofeffectively standing in for labor-intensive parental soothing whenrequired.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is an illustration of an infant soothing carrier assemblyaccording to various example embodiments of the invention.

FIG. 1B is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 2 is a cross-sectional diagram of a wheel with a swaying apparatusaccording to various example embodiments.

FIG. 3 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 4 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 5 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 6 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 7 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 8 is an illustration of an infant soothing toy assembly accordingto various example embodiments.

FIG. 9 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 10 is an illustration of an infant soothing carrier assemblyaccording to various example embodiments.

FIG. 11 is a block diagram of an infant soothing carrier assembly devicecontroller according to various example embodiments.

INTRODUCTION

Apparatus described herein drive an infant carrier through space whileproviding soothing acceleration and/or sonic components. Someembodiments may incorporate biofeedback mechanisms to adaptivelypinpoint characteristics of soothing motions and sounds appropriate to aselected soothing task for a particular infant in a particular emotionalstate. Infant caretakers may be relieved of time and energy consuminglow-level soothing tasks as a result.

Embodiments described herein include infant carriers capable ofself-locomotion and/or platforms capable of self-locomotion with snap-infasteners to accept an infant carrier. In some embodiments, a platformwith an attached infant carrier travels along a track or monorail. Insome embodiments, an infant carrier with wheels may be pulled by a toyproviding the locomotion. For example, an infant carrier with wheels maybe pulled along a track by a toy train. The various embodiments employinfant-soothing swaying and vibrating mechanisms that may help to calman upset infant and/or help the infant to fall asleep.

DETAILED DESCRIPTION

FIG. 1A is an illustration of an infant soothing carrier assembly 10according to various example embodiments of the invention. The infantsoothing carrier assembly 10 is capable of self-locomotion along a path(e.g., the path 12A, 12B) between points (e.g., the points 13A, 13B)within a selected space. In addition to locomotion along the path 12A,12B, the infant soothing carrier assembly 10 is capable of impartingsoothing acceleration components (e.g. the acceleration components 21A,21B, 21C, 21D, 21E, 21F, 21G, and 21H) in various directions inthree-space.

In some embodiments, soothing acceleration component-generatingapparatus may be incorporated into the infant soothing carrier assembly10 to create or enhance one or more of the acceleration components21A-21H. Such soothing acceleration-generating apparatus may also bereferred to herein as “soothing motion-generating apparatus.”

The infant soothing carrier assembly 10 includes an infant carrier 14, aplatform apparatus 15, or both. In some embodiments, the infant carrier14 may be mounted on the platform apparatus 15. In some embodiments, theplatform apparatus 15 may be adapted to accept and to fasten-in aninfant carrier such as the infant carrier 14. The infant carrier 14, theplatform apparatus 15, or both may include motion-enabling componentssuch as a set of wheels. In some embodiments the platform apparatus 15may incorporate a toy such as a toy train, or decorative portionsthereof.

FIG. 1B is an illustration of an infant soothing carrier assembly 100according to various example embodiments. The carrier assembly 100includes wheels (e.g., wheels 110A, 110B, and 110C) and is capable ofself-locomotion along a path between points within a selected space Itis noted that, although the example embodiment of FIG. 1B includes sixwheels, some embodiments may include a greater or fewer number ofwheels.

In some embodiments, the soothing carrier assembly 100 may be powered bya battery 114 affixed to or enclosed within the soothing carrierassembly 100. The battery 114 is electrically coupled to an electricmotor 118, the latter also housed within or upon the soothing carrierassembly 100. The electric motor 118 drives one or more of the wheels110 via a drivetrain 122. The drivetrain 122 may include one or moregears, pulleys, belts, etc. In some embodiments, one or more of thewheels 110 may each be directly driven by a wheel-specific motor (notshown in FIG. 1B) coupled to the corresponding wheel.

The soothing carrier assembly 100 also includes a steering mechanism 128(e.g., rack and pinion steering linkage or similar steering mechanismsas are known in the vehicular arts). The steering mechanism 128 iscoupled to the front set of wheels, the rear set of wheels, or both.

The soothing carrier assembly 100 may also include a soothing carrierassembly device controller 132 housed within or upon the soothingcarrier assembly 100. The carrier assembly device controller 132 iselectrically coupled to the electric motor 118 and/or to wheel-specificmotors (not shown in FIG. 1B). The device controller 132 determines thepath along which the soothing carrier assembly 100 is to travel. In someembodiments, a mechanical linkage 136 communicatively couples thecontroller 132 to the steering mechanism 128.

In some embodiments, the controller 132 may effect or fine-tune steeringoperations by sending appropriate signals to one or more intermediateelectromechanical devices such as servos, solenoids, and the like (notshown in FIG. 1B) coupled to the steering mechanism 128 or to pivotingversions of the wheels 110. The intermediate electromechanical devicesmove the steering mechanism 128 and/or the wheels 110 responsive tocontrol signals from the controller 132. In the case of embodimentsutilizing a separate motor for each of the wheels 110, the controller132 may effect steering by causing one or more of the wheels 110 torotate at rates different from the rate of rotation of the other wheels110.

In some embodiments, the controller 132 may be programmed to drive thesoothing carrier assembly 100 along a predetermined path. Someembodiments may include one or more sensors (e.g., the sensors 140A and140B) coupled to the soothing carrier assembly 100. The sensors 140 maysense the proximity of the soothing carrier assembly 100 to otherobjects. The controller 132 accepts inputs from the sensors 140 and mayuse information from the sensor signals for path determination,collision avoidance, etc.

The soothing carrier assembly 100 may also include one or more outwardfacing camera(s) 141A affixed to or integrated into the carrier assembly100 and communicatively coupled to the device controller 132. Theoutward facing cameras 141A may be video or frame-on-demand basedcameras. The cameras 141A provide image information to object featurerecognition mechanisms incorporated into the controller 132. Such objectfeature recognition mechanisms may extract features of the surroundingsof the soothing carrier assembly 100 as an adjunct to determining thecurrent location of the carrier assembly 100 relative to surroundingobjects.

The soothing carrier assembly 100 may further include one or moreinfant-facing camera(s) 141B coupled to the device controller 132. Theinfant-facing cameras 1B may be a video camera or a frame-on-demandbased camera. The cameras 141B may be communicatively coupled to thedevice controller 132 to provide image information to infant featurerecognition mechanisms incorporated into the device controller 132. Thecontroller 132 may use the infant feature information so derived (e.g.,smiles, frowns, fearful expressions, a sleepy face, etc.) as an adjunctto determining the current emotional state of the infant. Theinfant-facing cameras 141B may also provide a wireless video feed to acaretaker for child monitoring purposes.

The soothing carrier assembly 100 may also include audio outputtransducers 142A and 142B such as speakers. The speakers 142 arepositioned at the upper inside portions of the left and right lateralcarrier members 143A and 143B. The controller 132 sends soothing soundsignals to the speakers 142.

Physiological telemetry sensors (e.g., sensors 144A, 144B, and 144C)coupled to the device controller 132 may take vital sign measurements ofthe infant riding in the carrier assembly 100 during operation. Suchmeasurements may include body temperature, electrocardiographic data,respiratory data, electroencephalographic data, etc. The controller 132compiles data from the telemetry sensors 144 and may thereby determinecomponents of the infant's emotional state, including the infant's stateof wakefulness. Via this mechanism, a caretaker may be remotely alertedthat the infant has fallen asleep.

The soothing carrier assembly 100 also includes safety apparatus such asa safety harness 150 and one or more roll bars 154 coupled to thesoothing carrier assembly 100.

FIG. 2 is a cross-sectional diagram of a wheel 200 with a swayingapparatus 210 according to various example embodiments. The swayingapparatus 210 imparts soothing lateral acceleration components (e.g.,the acceleration components 21A-21H of FIG. 1A). In some embodiments,wheels such as the wheel 200 may be implemented as the wheels 110 of thesoothing carrier assembly 100 of FIG. 1B. In some embodiments, the outercircumference of the wheel 200 may have flat or irregular portions orsegments (e.g., the flat/irregular segments 212A and 212B). Suchirregularities in the wheel 200 may contribute soothing verticalacceleration components in the form of a bouncing effect to the soothingcarrier assembly 100.

The swaying apparatus 210 includes an outer hub 220 coupled to the wheel200. The swaying apparatus 210 also includes an inner hub 230 flexiblycoupled to the outer hub 220. In some embodiments, one or more flexiblemembers 240 are coupled between the outer hub 220 and the inner hub 230.The flexible members 240 may include a set of springs (e.g., the springs240A and 240B) and/or a flexible material 240C such as rubber. Theflexible members 240 provide both radial and axial flexibility betweenthe outer hub 220 and the inner hub 230. Such flexibility imparts aswaying motion at the soothing carrier assembly 100.

Some embodiments of the swaying apparatus 210 may also include a swayingmotion modulation device 250 coupled to one or more of the flexiblemembers 240. The swaying motion modulation device 250 may include one ormore solenoids, servos, etc. to compress and releases tension on theflexible members 240. The swaying motion modulation device 250 enablescontrol over the amount and/or direction of swaying. Although theswaying motion modulation device 250 is shown in FIG. 2 as being coupledto a spring 240D, it is understood that an analogous swaying motionmodulation device may be situated around the inner circumference of theouter hub 220 to compress and release tension on a flexible materialembodiment of the flexible members 240 (e.g., the flexible material240C).

In some embodiments, the swaying motion modulation device 250 may becontrolled by the carrier assembly device controller 132. In someembodiments, a feedback loop is established between the physiologicaltelemetry sensors 144 and the device controller 132 of FIG. 1B and theswaying motion modulation device 250 of FIG. 2. Such feedback loop maybe tuned to provide a desired level of soothing, to minimize the amountof time until the infant falls asleep, etc. It is noted that the swayingapparatus 210 may be incorporated into structures of the infant soothingcarrier assembly other than the wheel 200 for the purpose of impartingsoothing acceleration components between the various structures of thecarrier assemblies 10 and 100 of FIGS. 1A and 1B, respectively, and toan infant situated in the carrier 14.

Soothing motion-generating apparatus other than the swaying apparatus210 may be included in the infant soothing carrier assembly 10. Suchapparatus may include spring and/or gas cylinder suspensions, servomotors with offset cams to generate periodic swaying motion, solenoidsto generate small acceleration components at particular locations,vibrating apparatus to generate soothing vibrations, etc.

FIG. 3 is an illustration of an infant soothing carrier assembly 100according to various example embodiments. The infant soothing carrierassembly 100 includes a steering mechanism (e.g., the steering mechanism128 as described with reference to FIG. 1B). The soothing carrierassembly 100 is programmed to proceed along a fixed path (e.g., the path315) within a selected two-dimensional (2-D) space 320 (X,Z)

In some embodiments, the shape of the fixed path 315 may be determinedby a device controller (e.g., the device controller 132 of FIG. 1B). Theshape of the fixed path 315 may be user-selectable, as determined by thedesign of the controller 132. It is noted that, although the 2-D space320 is shown in FIG. 3 as being located indoors, embodiments herein arenot so limited.

FIG. 4 is an illustration of an infant soothing carrier assembly 100according to various example embodiments. The infant soothing carrierassembly 100 includes a steering mechanism 128 (not shown) and sensors(e.g., the sensors 140 of FIG. 1B) and is capable of self-locomotionalong a random path 415 within a selected 2-D space 320

An adaptive feedback loop may be established via the soothing devicecontroller 132 of FIG. 1B. The sensors 140 detect the location and/orproximity of the soothing carrier assembly 100 relative to walls orother obstacles and provide that data as inputs to the device controller132. The device controller 132 uses the position data to control thesteering mechanism 128 such as to avoid detected obstacles byredirecting the soothing carrier assembly 100 along a different path.

FIG. 5 is an illustration of an infant soothing carrier assembly 500according to various example embodiments. The soothing carrier assembly500 includes a platform assembly 515 with wheels (e.g., the wheels 520A,520B, and 520C, which may include the swaying mechanism 210 of FIG. 2 orsimilar). In some embodiments, the soothing carrier assembly 500 mayinclude an infant carrier 510 mounted on the platform assembly 515. Insome embodiments, the platform assembly 515 may be adapted to accept asnap-in infant carrier 510, including perhaps a consumer's choice ofinfant carriers. The infant soothing carrier assembly 500 is capable ofself-locomotion along a path between points within a selected space

In some embodiments, various components shown in FIG. 1B and previouslydescribed as being located within or upon the soothing carrier assembly100 may instead be located within or upon the platform assembly 515.Such components may include the battery 114, the electric motor 118, thedrivetrain 122, the steering mechanism 128, the soothing devicecontroller 132, the mechanical linkage 136, the sensors 140, thespeakers 142, the telemetry sensors 144, and/or the roll bars 154. Insome embodiments, the speakers 142 and/or the telemetry sensors 144 maybe located in or upon the infant carrier 510. The platform assembly 515may be configured with a lock-in mechanism to accept a consumer's choiceof infant carriers.

FIG. 6 is an illustration of an infant soothing carrier assembly 600capable of traveling along a track 612 according to various exampleembodiments. The infant soothing carrier assembly 600 includes aplatform assembly 615 with wheels (e.g., the wheels 520A, 520B, and 520Cof FIG. 5). In some embodiments, the carrier assembly 600 may include aninfant carrier 510 mounted on the platform assembly 615. In someembodiments, the platform assembly 615 may be adapted to accept asnap-in infant carrier 510, including perhaps a consumer's choice ofinfant carriers.

The platform assembly 615 may (but need not) include the battery 114,the electric motor 118, the drivetrain 122, the soothing devicecontroller 132, the speakers 142, the telemetry sensors 144, and/or theroll bars 154 as previously described with reference to the infantsoothing carrier assembly 100 of FIG. 1B. In some embodiments, thespeakers 142 and/or the telemetry sensors 144 may be located in or uponthe infant carrier 510. Steering components may be omitted from theinfant carrier soothing assembly 600, given that the assembly 600 isconfigured to travel along the track 612.

FIG. 7 is an illustration of an infant soothing carrier assembly 700according to various example embodiments. The infant soothing carrierassembly 700 is capable of traveling along a track 612 according tovarious example embodiments. The infant soothing carrier assembly 700includes a toy motif platform assembly 715 with wheels (e.g., the wheels520A, 520B and 520C of FIG. 5). In some embodiments, the carrierassembly 700 may include an infant carrier 510 mounted on the toy motifplatform assembly 715. In some embodiments, the platform assembly 715may be adapted to accept a snap-in infant carrier 510, including perhapsa consumer's choice of infant carriers.

The toy motif platform assembly 715 may include the battery 114, theelectric motor 118, the drivetrain 122, the soothing device controller132, the speakers 142, the telemetry sensors 144, and/or the roll bars154 as previously described with reference to the infant soothingcarrier assembly 100 of FIG. 1B. In some embodiments, the speakers 142and/or the telemetry sensors 144 may be located in or upon the infantcarrier 510. Steering components may be omitted from the infant soothingcarrier assembly 700, given that the carrier assembly 700 is configuredto travel along the track 612.

FIG. 8 is an illustration of an infant soothing toy assembly 800according to various example embodiments. The soothing toy assembly 800includes an infant soothing carrier 815 with wheels (e.g. the wheels110A, 110B, and 110C of FIG. 1B). Some embodiments may alternativelyinclude the rolling platform of FIG. 6 with a snap-in infant carrier asthe infant soothing carrier 815. A snap-in seat may be substituted forthe carrier when the infant outgrows the carrier. The soothing toyassembly 800 is configured to travel along a small-scale train track612. The infant soothing carrier 815 is capable of being pulled orpushed by a train car 820 along the track 612. In a simple embodiment,an infant may be soothed by the clickety-clack sound and vibrations ofthe wheels as they pass over track segment junctions, coupled with arepetitive field of view of relatively long periodicity.

In a more complex embodiment, the infant soothing carrier 815 mayinclude the soothing device controller 132, speakers 142, telemetrysensors 144, and/or roll bars 154 as previously described with referenceto the infant soothing carrier assembly 100 of FIG. 1B. Steeringcomponents may be omitted from the infant soothing toy assembly 800,given that the toy assembly 800 is configured to travel along the track612.

FIG. 9 is an illustration of an infant soothing carrier assembly 900according to various example embodiments. The carrier assembly 900 isconfigured to travel along a monorail 915. The carrier assembly 900includes a monorail platform 920. In some embodiments, the carrierassembly 900 may include an infant carrier 510 mounted on the monorailplatform assembly 920. In some embodiments, the monorail platformassembly 920 may be adapted to accept a snap-in infant carrier 510,including perhaps a consumer's choice of infant carriers.

The monorail platform 920 may include the battery 114, the electricmotor 118, a monorail drivetrain, the soothing device controller 132,the speakers 142, the telemetry sensors 144, and/or the roll bars 154 aspreviously described with reference to the infant soothing carrierassembly 100 of FIG. 1B. In some embodiments, the speakers 142 and/orthe telemetry sensors 144 may be located in or upon the infant carrier510. Steering components may be omitted from the monorail platform 920,given that the infant soothing monorail assembly 900 is configured totravel along the monorail 915.

A monorail slide mechanism 930 couples the monorail platform 920 to themonorail 915. In some embodiments, a swaying suspension apparatus (notshown in FIG. 9) may be coupled between the monorail platform 920 andthe monorail slide mechanism 930. The swaying suspension apparatus mayinclude springs, flexible connecting materials such as rubber, etc. Insome embodiments, the swaying suspension apparatus may be coupled to thedevice controller 132 via one or more servos, solenoids, etc. The latterconfiguration permits tuning of the swaying motion component of thesoothing stimulus, and may operate in a closed loop with the telemetrysensors 144 as previously described with reference to the infantsoothing carrier assembly 100 of FIG. 1B.

FIG. 10 is an illustration of an infant soothing carrier assembly 900according to various example embodiments. The carrier assembly 900 iscapable of self-locomotion along a monorail 915 within a selected threedimensional (3-D) space 935 (X,Y,Z). In some embodiments, the monorailassembly 900 may include a crash cage (not shown in FIG. 10) coupled tothe monorail platform 920. Some embodiments of the monorail assembly 900may include a tether (not shown in FIG. 10) capable of being looselycoupled between one or more components of the monorail assembly 900 andan overhead support member such as a ceiling joist. Such tether may alsobe coupled to a harness capable of supporting an infant in case offailure of the infant soothing monorail assembly 900 and/or the monorail915.

FIG. 11 is a block diagram of an infant soothing carrier assembly devicecontroller 132 according to various example embodiments. The controller132 includes a path control section 1110. The path control section 1110steers trackless embodiments of the infant soothing carrier assembly 10of FIG. 1A and/or the infant soothing carrier assembly 100 of FIG. 1Balong a proximate path. The path control section 1110 also controlsacceleration of the various embodiments of the infant soothing carrierassemblies 10 and/or 100. In some embodiments, the controller 132 mayalso include an infant soothing control section 1115. The soothingcontrol section 1115 outputs signals to soothing motion controlapparatus (e.g., the swaying apparatus 210 of FIG. 2) and outputssoothing audio signals to speakers located at the infant soothingcarrier assemblies 10 and/or 100.

The path control section 1110 includes a localization signal processingmodule 1118. The localization signal processing module 1118 analyzessensor input data to determine the current position of the infantsoothing carrier assemblies 10 and/or 100 with respect to thesurroundings.

The localization signal processing module 1118 receives proximity and/orpositioning input signals 1121 from sensors (e.g. the sensors 140 ofFIG. 1B) at the infant soothing carrier assemblies 10 and/or 100. Theinput signals 1121 may carry echolocation data indicating the positionof the infant soothing carrier assemblies 10 and/or 100 relative tosurrounding objects. In some embodiments, the input signals 1121 maycarry Doppler shift data to indicate the relative speed between theinfant soothing carrier assemblies 10 and/or 100 and surroundingobjects. The localization signal processing module 1118 may also receiveGPS coordinate data and/or data associated with short rangetriangulation based upon wireless signals such as Wi-Fi, Bluetooth,personal area network (PAN), etc. signals.

An image processing and feature recognition module 1124 may be coupledto the localization signal processing module 1118. The image processingand feature recognition module 1124 receives an image signal 1125 froman outward-facing camera affixed to or integrated into some embodimentsof the infant soothing carrier assemblies 10 and/or 100 (e.g., thecamera 141A of FIG. 1B). The image signal 1125 may carry one or moresingle frame images or a video image sequence. The module 1124 may alsoreceive image information 1142 from an infant-facing camera affixed toor mounted on the infant soothing carrier assemblies 10 and/or 100.

The module 1124 analyzes the received image information for features(e.g., shapes, colors, brightness, contrast, etc.) that can be used toidentify surrounding objects such as walls, furniture, toys, persons,pets, etc. The image processing and feature recognition module 1124sends object identification information to the localization signalprocessing module 1118 to aid in the localization of the infant soothingcarrier assemblies 10 and/or 100 with respect to the surroundings.

The soothing device controller 132 also includes a path and accelerationcontrol module 1127 coupled to the localization signal processing module1118. The path and acceleration control module 1127 receives informationassociated with the position of the infant soothing carrier assemblies10 and/or 100 relative to surrounding objects from the localizationsignal processing module 1118. The path control and acceleration module1127 also receives information related to the emotional state of theinfant from an infant soothing state module 1130, as further describedbelow. The path and acceleration control module 1127 uses one or more ofsuch inputs to determine the proximate path and acceleration oftrackless embodiments of the infant soothing carrier assemblies 10and/or 100. The path and acceleration control logic module 1127 uses oneor more of the aforesaid inputs to determine rates of acceleration anddeceleration in the case of tracked embodiments of the infant soothingcarrier assemblies 10 and/or 100.

The soothing device controller 132 further includes a steering controlmodule 1133 coupled to the path and acceleration control module 1127.The steering control module receives proximate path information from thepath and acceleration control module 1127 and generates steering controloutput signals 1134. The steering control output signals 1134 operate onone or more of the steering mechanisms previously described withreference to FIG. 1B (e.g., the steering mechanism 128, pivotingversions of the wheels 110, etc.) to implement the desired proximatepath.

A motor drive module 1136 is also coupled to the path and accelerationcontrol module 1127. The motor drive module sends motor speed controlsignals 1137 to the motor(s) driving the wheels of the infant soothingcarrier assemblies 10 and/or 100.

The controller 132 may also include an infant soothing control section1115 to generate soothing motion control signals and soothing audiosignals, as previously mentioned. The infant soothing control section1115 may include a physiological telemetry data processing module 1140.The processing module 1140 receives physiological telemetry data 1141from a set of physiological sensors (e.g., the sensors 144 of FIG. 1B)and/or sensor data acquisition devices located at the infant soothingcarrier assemblies 10 and/or 100. Such telemetry may include bodytemperature, pulse rate, respiratory data, electrocardiographic data,electroencephalographic data, etc. The physiological telemetry dataprocessing module 1140 analyzes the telemetry to estimate the currentemotional state of the infant and passes such information to the infantsoothing state module 1130.

The infant soothing state module 1130 is also coupled to the imageprocessing feature recognition module 1124. The image processing featurerecognition module 1124 receives image data 1142 from an infant-facingcamera affixed to or integrated into the infant soothing carrierassemblies 10 and/or 100 (e.g., the camera 141B of FIG. 1B). The infantsoothing state module 1130 may use feature data associated with theinfant as well as feature data associated with the outward-facing videostream 1125, showing features within the infant's field of view, tofurther assess and predict the emotional state of the infant.

Using its estimate of the current emotional state of the infant togetherwith stored past trend data, the infant soothing state module 1130 makesdecisions about how to tune soothing motion, the proximate path of theinfant soothing carrier assemblies 10 and/or 100, theacceleration/deceleration of the infant soothing carrier assemblies 10and/or 100, and/or the magnitude and character of soothing audio out.

A soothing motion control module 1144 is coupled to the infant soothingstate module 1130. Under control of the infant soothing state module1130, the soothing motion control module 1144 outputs signals 1145 tosoothing motion control apparatus (e.g., the swaying apparatus 210 ofFIG. 2).

An audio generation control module 1148 is also coupled to the infantsoothing state module 1130. Under control of the infant soothing statemodule 1130, the audio generation and control module 1148 outputssoothing audio signals 1149 to speakers located at the infant soothingcarrier assemblies 10 and/or 100.

The infant soothing control section 1115 thus operates to establish aphysiological feedback path. The soothing control section 1115 adjustspath control and acceleration, soothing motion control, and/or audiooutputs based upon the current physiological state of an infant ridingin the soothing apparatus. Such adjustments may then modify theemotional state of the infant. The infant soothing state module 1130 maybe programmed to be adaptive and to make continuous adjustments asnecessary in order to calm the infant or to put him or her to sleep. Forexample, as physiological telemetry from the infant indicates that theinfant is falling into deeper sleep, some embodiments may respond bydecreasing the magnitude and/or change other characteristics of soothingmotions such as swaying, decrease the volume and/or change the sounds ofsoothing audio, etc. Likewise, if the physiological telemetry indicatesthat the infant is distressed, the magnitudes of soothing outputs may beincreased and other characteristics tuned.

It is noted that the example embodiment of the infant soothingcontroller 132 as described above may be modified with additional orfewer sensory input modules and additional or fewer soothing stimulusoutput modules as may be deemed appropriate for various embodiments ofinfant soothing carrier assemblies 10, 100, 500, 600, 700, 800, and 900.Example embodiments of the soothing controller 132 are meant to conveythe general idea of implementing a soothing motion oriented biofeedbacksystem in order to sooth an infant and/or assist him or her in fallingasleep.

Modules and components described herein may include hardware circuitry,optical components, single or multi-processor circuits, and/or memorycircuits. In some embodiments, such modules and components may alsoinclude computer-readable media with computer instructions encodedtherein/thereon capable of being executed by a processor. Suchcomputer-readable media may include non-volatile memory with firmwarestored therein, excluding non-functional descriptive matter. Componentsdescribed herein may be combined, as desired by the architects of theinfant soothing carrier assemblies 10, 100, 500, 600, 700, 800, and 900;the swaying wheel 200 and apparatus 210; and the device controller 132and as appropriate for particular implementations of variousembodiments.

Apparatus described herein may be useful in applications other thaninfant soothing. Examples of the infant soothing carrier assemblies 10,100, 500, 600, 700, 800, and 900; the swaying wheel 200 and apparatus210; and the device controller 132 are intended to provide a generalunderstanding of the structures of various embodiments. They are notintended to serve as complete descriptions of all elements and featuresof apparatus and systems that might make use of these structures.

Apparatus described herein drive an infant carrier through space whileproviding soothing acceleration and/or sonic components. Someembodiments may incorporate biofeedback mechanisms to adaptivelypinpoint characteristics of soothing motions and sounds appropriate to aselected soothing task for a particular infant in a particular emotionalstate. Infant caretakers may be relieved of time and energy consuminglow-level soothing tasks as a result.

By way of illustration and not of limitation, the accompanying figuresshow specific embodiments in which the subject matter may be practiced.It is noted that arrows at one or both ends of connecting lines areintended to show the general direction of electrical current flow, dataflow, logic flow, etc. Connector line arrows are not intended to limitsuch flows to a particular direction such as to preclude any flow in anopposite direction. The embodiments illustrated are described insufficient detail to enable those skilled in the art to practice theteachings disclosed herein. Other embodiments may be used and derivedtherefrom, such that structural and logical substitutions and changesmay be made without departing from the scope of this disclosure. ThisDetailed Description, therefore, is not to be taken in a limiting sense.The breadth of various embodiments is defined by the appended claims andthe full range of equivalents to which such claims are entitled.

Such embodiments of the inventive subject matter may be referred toherein individually or collectively by the term “invention” merely forconvenience and without intending to voluntarily limit this applicationto any single invention or inventive concept, if more than one is infact disclosed. Thus, although specific embodiments have beenillustrated and described herein, any arrangement calculated to achievethe same purpose may be substituted for the specific embodiments shown.This disclosure is intended to cover any and all adaptations orvariations of various embodiments.

What is claimed is:
 1. An infant soothing toy assembly, comprising: aninfant carrier; a first set of wheels rotatively coupled to the infantcarrier to transfer soothing vibrations and swaying motions to theinfant carrier as the infant carrier moves along a path between pointswithin a selected space; a drive toy capable of self-locomotion coupledto the infant carrier to perform at least one of pulling the infantcarrier along the path or pushing the infant carrier along the path; anda second set of wheels rotatively coupled to the drive toy to providesupport for rolling motion and steering of the infant soothing toyassembly along the path.
 2. The infant soothing toy assembly of claim 1,further including: a track to guide the drive toy and the infant carrieralong the path.
 3. The infant soothing toy assembly of claim 1, at leastone wheel of the first set of wheels further comprising: a swayingapparatus wheel hub component to control a degree of rigidity ofmechanical coupling between the wheel and a point of fixation of thewheel to the infant carrier and to impart soothing lateral and/orvertical acceleration components as the infant soothing toy assemblymoves along the path.
 4. The infant soothing toy assembly of claim 3,the swaying apparatus wheel hub further comprising: an outer hub affixedto the wheel; and an inner hub flexibly coupled to the outer hub toallow relative movement between the inner hub and the wheel.
 5. Theinfant soothing toy assembly of claim 4, the swaying apparatus wheel hubfurther comprising: at least one flexible member to flexibly couple theouter hub to the inner hub, the flexible member being at least one of asolid flexible material, a set of springs, or a set of springs embeddedin the solid flexible material.
 6. The infant soothing toy assembly ofclaim 5, the swaying apparatus wheel hub further comprising: a swayingmotion modulation device coupled to the flexible member to compress andrelease tension on the flexible member to control an amount of swayingmotion.
 7. The infant soothing toy assembly of claim 1, at least onewheel of the first set of wheels further comprising: an irregularsegment around the outer circumference of the wheel to impart soothingvertical acceleration components as the wheel rotates.
 8. The infantsoothing toy assembly of claim 1, further comprising: a drivetrainmechanically coupled to at least one wheel of the second set of wheels;an electric motor coupled to the drivetrain to provide mechanical powerto the drivetrain; and a battery controllably coupled to the electricmotor to provide controllable electrical power to the electric motor. 9.The infant soothing toy assembly of claim 1, further comprising: anelectric motor mechanically coupled to at least one wheel of the secondset of wheels to provide direct drive to the wheel; and a batterycontrollably coupled to the electric motor to provide controllableelectrical power to the electric motor.
 4. The infant soothing toyassembly of claim 1, further comprising: a steering mechanism coupled tothe second set of wheels to control a direction of travel by setting anangle between at least one wheel position and a current direction oftravel; and an electromechanical device coupled to the steeringmechanism to impart motion to the steering mechanism responsive tosignals from a device controller.
 5. The infant soothing carrierassembly of claim 4, the electromechanical device being at least one ofa servo motor or a solenoid.
 6. The infant soothing toy assembly ofclaim 1, further comprising: a plurality of electric motors mechanicallycoupled to at least two wheels of the second set of wheels to providedirect drive to the wheels and to effect steering of the infant soothingtoy assembly by rotating the wheels at a differential rate; and abattery controllably coupled to the electric motors to providecontrollable electrical power to the electric motors.
 7. The infantsoothing toy assembly of claim 1, further comprising: a devicecontroller communicatively coupled to the drive toy and to the infantcarrier to perform at least one of determining the path, controllingnavigation along the path, controlling magnitudes of the soothingvibrations and swaying motions, and monitoring an infant in the infantcarrier.
 8. The infant soothing toy assembly of claim 7, furthercomprising: at least one position sensor located at the drive toy and/orat the infant carrier and coupled to the device controller to sense adistance between the infant soothing toy assembly and a surroundingobject.
 9. The infant soothing toy assembly of claim 7, furthercomprising: at least one outward-facing camera located at the drive toyand/or at the infant carrier and coupled to the device controller toprovide video or frame-on-demand scene information to object featurerecognition logic within the device controller.
 10. The infant soothingtoy assembly of claim 7, further comprising: at least one infant-facingcamera mounted on and/or in the infant carrier and coupled to the devicecontroller to provide video or frame-on-demand images of an infantsituated in the infant carrier to facial feature recognition logicwithin the device controller and/or to an infant caretaker via awireless link.
 11. The infant soothing toy assembly of claim 7, furthercomprising: at least one loudspeaker or other sound-emitting transducerlocated at the infant carrier and/or at the drive toy and coupled to thedevice controller to reproduce soothing sounds from an audio signalreceived from the device controller.
 12. The infant soothing toyassembly of claim 7, further comprising: at least one physiologicaltelemetry sensor situated on or incorporated into the infant carrier andcoupled to the device controller to monitor vital signs of an infantsituated in the infant carrier and to provide input data to the devicecontroller for purposes of determining at least one of an emotionalstate or a state of wakefulness of an infant in the infant carrier. 13.The infant soothing toy assembly of claim 7, the device controllerfurther comprising: a path control section to generate steering andlocomotion speed control information and to steer the infant soothingtoy assembly along the path at a selected rate; and an infant soothingcontrol section communicatively coupled to the path control section togenerate soothing motion control signals and soothing audio signals, tosend the soothing motion control signals to soothing motion generatingapparatus, and to send the soothing audio signals to a sound transducer.14. The infant soothing toy assembly of claim 13, the path controlsection further comprising: a path and acceleration control module toperform obstacle avoidance operations and to generate path and speedinformation associated with at least one of a fixed path or a randompath; a steering control module communicatively coupled to the path andacceleration control module to generate steering control signals and tosend the steering control signals to an electromechanical device capableof imparting motion to a steering mechanism; and a motor drive modulecoupled to the path and acceleration control module to generate motorspeed signals and to send the motor speed signals to at least one drivemotor.
 15. The infant soothing toy assembly of claim 13, the pathcontrol section further comprising: a localization signal processingmodule coupled to the path and acceleration control module to receive atleast one of distance information from a proximity sensor, positioninformation from a position sensor, or environmental feature informationderived from scenes captured by an outward facing camera and todetermine a position of the infant soothing toy assembly relative tosurrounding objects along the path.
 16. The infant soothing toy assemblyof claim 13, the infant soothing section further comprising: an infantsoothing state module to determine a current desired soothing motioncontrol state and a current desired soothing audio state; a soothingmotion control module communicatively coupled to the infant soothingstate module to receive an input from the infant soothing state moduleindicating the desired soothing motion control state, to generatesoothing motion control signals corresponding to the desired soothingmotion control state, and to send the soothing motion control signals tosoothing motion generating apparatus; and a soothing audio generationand control module communicatively coupled to the infant soothing statemodule to receive an input from the infant soothing state moduleindicating the current desired soothing audio state, to generatesoothing audio signals corresponding to the desired soothing audiostate, and to send the soothing audio signals to at least one audiooutput transducer.
 17. The infant soothing toy assembly of claim 16, theinfant soothing section further comprising: an image processing andfeature recognition module communicatively coupled to the path controlsection and to the infant soothing state module to accept image signalsfrom at least one of an outward-facing camera or an infant-facingcamera, to extract feature information from the image signals, and tosend the feature information to at least one of the path control sectionor to an infant soothing state module associated with the infantsoothing section; and a physiological telemetry data processing modulecommunicatively coupled to the infant soothing state module to receivephysiological telemetry data associated with an infant situated in theinfant soothing carrier assembly from at least one physiologicaltelemetry sensor, to determine an emotional state of the infant from thephysiological telemetry data, and to send information associated withthe infant emotional state to the infant soothing state module.